Holidays abroad ESA support group

I was asked by a friend recently whether, should my health/condition cope with the travel (right now that's a no but never say never!), I was legally able to go abroad whilst on Esa as she had heard that it was difficult to do without risking losing the benefit (which she found outrageous). I haven't travelled, let alone outside of the UK for years as the getting from one place to another would take so much out of me but she suggested renting a camper which would enable the driver (I'd have to enlist a friend or my mother) to park up and relax whilst I had a nap and enable me to travel without having to walk long distances etc. It got me thinking but the advice on the Internet is conflicting and confusing so I'm hoping some kind soul can give me an answer. I see the DWP say 28 days and inform them but reports online suggest they then use this to argue against support group? As much as I would love to jump up and earnap some money, realistically that isn't going to happen unless medical science comes up with a better treatment but a camper plus wheelchair could be a possibility with careful planning and the thought of European sunshine and being able to take my kids abroad sounds, in theory, like a dream come true!

Can anyone clarify law and does anyone have firsthand experience - good or bad?

Thanks, Slg